@inproceedings{25295e4a0631499f87680bdc5b5ddadd,
title = "Aggregation in a swarm of non-holonomic agents using artificial potentials and sliding mode control",
abstract = "In this paper we consider the aggregation of swarms whose agents are moving in 2-dimensions with a non-holonomic agent dynamics. We approach this problem using artificial potentials and sliding mode control. The main contribution is the extension of the recent results in the literature based on a similar approach for simple integrator agent dynamics model to a significantly more realistic and more difficult setting with non-holonomic unicycle agent dynamics model. In particular, we design a continuous-time control scheme via a constructive analysis based on artificial potentials and sliding mode control techniques. The effectiveness of the proposed design for solving the swarm aggregation problem is demonstrated analytically as well as via a set of simulation results.",
author = "Veysel Gazi and Koksal, {M. Ilter} and Baris Fidan",
note = "Publisher Copyright: {\textcopyright} 2007 EUCA.; 2007 9th European Control Conference, ECC 2007 ; Conference date: 02-07-2007 Through 05-07-2007",
year = "2007",
doi = "10.23919/ecc.2007.7068725",
language = "English",
series = "2007 European Control Conference, ECC 2007",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1485--1491",
booktitle = "2007 European Control Conference, ECC 2007",
address = "United States",
}